The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    On the manipulability of dual cooperative robots


    Contributors:


    Publication date :

    1989-01-31


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Manipulability of Dual Cooperative Robots

    P. Chiacchio / S. Chiaverini / L. Sciavicco et al. | NTIS | 1989




    Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability

    Khadem, Mohsen / O'Neill, John / Mitros, Zisos et al. | BASE | 2020

    Free access

    CyberForce Haptic Device: Kinematics and Manipulability

    Martinez-Teran, Gerardo / Dominguez-Ramirez, Omar Arturo / Ramirez-Zamora, Juan Daniel et al. | IEEE | 2015